My friend, Peter Harrison pointed me to two articles on this topic: https://micromouseonline.com/micromouse-book/robot-dynamics/smooth-corners/ https://micromo

My friend, Peter Harrison pointed me to two articles on this topic: https://micromouseonline.com/micromouse-book/robot-dynamics/smooth-corners/ https://micromouseonline.com/micromouse-book/robot-dynamics/... https://micromouseonline.com/wp-content/uploads/2015/06/MINOS15-Reliable-Turns-Peter-Harrison.pdf https://micromouseonline.com/wp-content/uploads/2015/06/MINO...